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Finite Elements Methods
Formulary for Prof. Estor�'s exam
Finite Element Method in General
One wants to obtain the equilibrium eqautions for the body, discretized by �niteelements in the form
M · U + C · U +K · U = R
Displacement of the nodes:
U =[U1 U2 . . . Un
]Tn: degrees of freedom
Displacement within the element m:
u(m)(x, y, z) = H(m)(x, y, z)U
H(m) : Displacement interpolation matrix
Strain inside the element m:
ε(m)(x, y, z) = B(m)(x, y, z)U
B(m) : Verzerrungs-Verschiebungs-Matrix
Play around with those matrices and from the priciple of virtual displacement´V
εT τ dV =´V
UT fBdV +´S
UST fS dS +∑i
U iTF i it follows:
System of equations (stationary case KU = R)[∑m
´v(m)
B(m)TC(m)B(m) dV (m)
]U =
∑m
´v(m)
H(m)T fB(m) dV (m)
+∑m
´S(m)
HS(m)T fS(m) dS(m) +∑m
´v(m)
B(m)T τ I(m) dV (m) + F
1
From that one can obtain a formular to calculate each of the matrices in theequlibrium equasions:
Sti�ness matrix: K =∑m
´V (m)
B(m)TC(m)B(m)dV (m) =∑K(m)
Volume forces: RB =∑m
´V (m)
H(m)T fB(m) dV (m) =∑mR
(m)B
Surface forces: RS =∑m
´S(m)
HS(m)T fS(m) dS(m) =∑mR
(m)S
Initial stresses: RI =∑m
´v(m)
B(m)T τ I(m) dV (m) =∑mR
(m)I
Single forces: RC = F
With d'Alembert Principle the matrices for the time dependent case follow:
Mass matrix: M =∑m
´V (m)
ρ(m)H(m)TH(m) dV (m) =∑mM (m)
Damping matrix: C =∑m
´V (m)
κ(m)H(m)TH(m) dV (m) =∑mC(m)
According to the choosen elements one has to concidere only certain componentsof stress, strain and displacement:
2
(Isoparametric) Truss Elements
Displacement of the nodes:
Global: U =[u1 v1 u2 v2 . . . vn
]TLocal: U =
[u1 v1 u2 v2 . . . vn
]Tn: number of nodes in element
U can be linked with the overall node displacement vector of the system (has thesame orientation).
Interpolation:
Coordinates: x(r) =∑hixi Displacements: u(r) =
∑hiui
In the following, an element with 2 nodes is considered.
Displacement interpolation matrix:
H =[h1 0 h2 0
]=[
12 (1− r) 0 1
2 (1 + r) 0]with
x(r) = H · Xu(r) = H · U
Setting up the strain displacement matrix:
εx = dudx
ε = B · U=⇒ B =
[h1x 0 h2x 0
]=[− 1
L 0 1L 0
]because hix = ∂hi
∂x = ∂hi
∂r∂r∂x = ∂hi
∂r
(∂x∂r
)−1= ∂hi
∂r
(L2
)−1
Setting up the sti�ness matrix:
K =´V
BTCB dV = AEL
0
BT B dx with A: Cross-sectional area of truss
It follows: K = EAL
1 0 −1 00 0 0 0−1 0 1 00 0 0 0
Transformed to global directions:
K = TT KT = EAL
cos2α cosα sinα −cosα cosβ −cosα sinβ
cosα sinα sin2α −sinα cosβ −sinα sinβ−cosα cosβ −sinα cosβ cos2β sinβ cosβ−cosα sinβ −sinα sinβ sinβ cosβ sin2β
3
4
Isoparametric Plate Elements
Displacement of the nodes:
U =[u1 . . . un v1 . . . vn
]Tn: number of nodes in element
U can be linked with the overall node displacement vector of the system.
Interpolation:
Coordinates: x(r, s) =∑hixi; y(r, s) =
∑hiyi
Displacements: u(r, s) =∑hiui; v(r, s) =
∑hivi
In the following formulars, an element with 4 nodes is concidered.
Displacement interpolation matrix:
H =
[h1 h2 h3 h4 0 0 0 00 0 0 0 h1 h2 h3 h4
]with
X(r, s) = H · XU(r, s) = H · U
Match H with the vector of displacements of all nodes U to obtain the globalsti�ness matric H(m) for the element.
Setting up the strain displacement matrix:
εx = dudx εy = dv
dy
εxy = dudy + dv
dx
ε = B · U=⇒ B =
h1x h2x h3x h4x 0 0 0 00 0 0 0 h1y h2y h3y h4y
h1y h2y h3y h4y h1x h2x h3x h4x
Match B with the vector of displacements of all nodes U to obtain the global sti�-ness matric B(m) for the element.
Calculating derivatives of hi:[hixhiy
]=
[ ∂hi
∂x∂hi
∂y
]= J−1 ·
[∂hi
∂r∂hi
∂s
]with J =
[∂x∂r
∂y∂r
∂x∂s
∂y∂s
]Inverse 4x4 matrix: A =
[a bc d
]−→ A−1 = 1
det(A)
[d −b−c a
]Setting up the sti�ness matrix:
K =´V
BTCB dV = t ·1
−1
1
−1
BTCB dr ds t: thickness of the element
Match K with the vector of displacements of all nodes U to obtain the globalsti�ness matric K(m) for the element.
5
6
Beam Elements
Displacement of the nodes:
U =[w1 ϕ1 w2 ϕ2
]Tfor an element with 2 nodes
Displacement interpolation matrix (Hermite Beam):
w(x) = HU
H =[
1− 3 x2
L2 + 2 x3
L3 x− 2x2
L + x3
L2 3 x2
L2 − 2 x3
L3 −x2
L + x3
L2
]
=⇒ K = EI
12L3
6L2
4L
− 12L3 − 6
L212L3
6L2
2L − 6
L24L
For di�erent H the strain displacement matrix B has to be determined �rst tocalculate K =
´V
BTCB dV .
Isoparametric:
Displacement of the nodes:
U =[w1 . . . wq ϕ1 . . . ϕq
]Tq: number of nodes in element
Interpolation:
w(r) =∑hiwi ϕ(r) =
∑hiϕi
Use the interpolation functions for a 1D element.
For displacement interpolation matrix H and strain interpolation matrix B con-cider displacement and rotation seperatly:
Hw =[h1 . . . hq 0 . . . 0
]Hϕ =
[0 . . . 0 h1 . . . hq
]Bw = J−1
[∂h1
∂r . . .∂hq
∂r 0 . . . 0]
Bϕ = J−1[
0 . . . 0 ∂h1
∂r . . .hq
∂r
]with the Jacobian J = ∂x
∂r
7
Material Matrices
8
Calculating Loads
In general RS =´S
HST q(x) dS for distributed loads q(x).
In the following a load acting between note 1 and 2 of a 4-node-isoparametricelement where s = const = 1 is considered.
Set up HS matrix
Consider only the displacements of the two nodes contained in the surface theload is working on:[uSvS
]= HSUS mit US =
[u1 u2 v1 v2
]HS =
[12 (1 + r) 1
2 (1− r) 0 00 0 1
2 (1 + r) 12 (1− r)
]Integrate
Rewrite q(x) in local coordinates to obtain q(r) and integrate over the surface:
R =[Rx1 Rx2 Ry1 Ry2
]T= t ·
1
−1
HST q(r) det(JS) dr
with q(r) =
[qx(r)qy(r)
]=fS and t: thickness of the plate
Jabobian matrix
Since s = const here, the Jacobian degenerates to JS =[
∂x∂r
∂y∂r
].
Because JS is not quadratic anymore, one has to use the Gramian determinant:
det(JS) =√JSJST =
√(∂x∂r
)2+(
∂y∂r
)2
Load in one direction (after the other)
For a vertical load with qx(x) = 0 only the vertical displacement and forces haveto be concidered:
vS = HS
[v1
v2
]=⇒ HS =
[h1 h2
]=[
12 (1 + r) 1
2 (1− r)]
R =
[Ry1
Ry2
]= t ·
1
−1
HST qy(r) det(J) dr
Always try set up single forces that representate the distributed load �rst!
9
Setting up Mass Matrices
M (m) =´
V (m)
ρ(m)H(m)TH(m) dV (m)
Consistent mass matrix:
1D: M (m) =L
0
A(x)ρ(m)H(m)TH(m) dx =1
−1
A(r)ρ(m)H(m)TH(m)det(J) dr
2D: M (m) =1
−1
1
−1
t(x)ρ(m)H(m)TH(m)det(J) dr ds
Lumped mass matrix:
M (m) =
mn 0 0
0. . . 0
0 0 mn
with m: Mass of the element; n: Number of
nodes in element
Calculating Stresses
In general: σ = C ·BU
Truss: σ = Cε = E∆LL with ∆L = u2 − u1
Plate (at s = s∗, r = r∗): σ = C ·B |r∗, s∗ U
10
Jacobian Matrix
Transformation of coordinates / chain rule /...:
J =
∂x∂r
∂y∂r
∂z∂r
∂x∂s
∂y∂s
∂z∂s
∂x∂t
∂y∂t
∂z∂t
so that
∂∂r∂∂s∂∂t
= J
∂∂x∂∂y∂∂z
Used to calculate: ∂h
∂x∂h∂y∂h∂z
= J−1
∂h∂r∂h∂s∂h∂t
and´V
. . . dV =1
−1
1
−1
1
−1
. . . det(J) dr ds dt
Rules for Variational Operator
δ dudx = d
dxδu δb
a
f(x) dx =b
a
δf(s) dx
Integration by Parts
b
a
u′(x)v(x) dx = [u(x)v(x)]ba −
b
a
u(x)v′(x) dx
Variation of the Total Potential
Total potential: Π = U −WU : Strain energy W : Potential of external loads
Obtain natural boundary conditions and partial di�erential equation by solvingδΠ = 0, where Π is the (hopefully given) potential of the system.
Ritz Method
Insert an approximation function for displacement with coe�cients a1, a2,a3, ...and solve ∂Π
∂a1, ∂Π
∂a2, ...
Note that ∂∂a1
b
a
f(ai) dx =b´
a
∂∂a1
f(ai) dx.
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More stu�...
12
Gauss Integration
K =´V
F (r, s, t) dr ds dt mit F (r, s, t) = BTCB det(J)
Gauss:b
a
F (r) dr = α1F (r1) + α2F (r2) + ...+ αnF (rn)
Polynomials up to the order (2n− 1) can be integrated axactly.
Example
The integral1
−1
F (r) dr shall be approximated using
just one approximation point:1
−1
F (r) dr = 2 · F (0)
two approximation points:1
−1
F (r) dr = 1 · F (−0.57735) + 1 · F (0.57735)
13
Newton-Cotes Integration
K =´V
F (r, s, t) dr ds dt mit F (r, s, t) = BTCB det(J)
Newton-Cotes:b
a
F (r) dr = (b− a)n∑
i=0
Cni Fi +Rn
with Cni : Newton-Cotes constants; Rn: Remainder (error estimation)
The approximation points Fi are linearly distributed, for the distance betweento points h = b−a
n holds.
Example
The integral1
−1
F (r) dr shall be approximated using
just one interval:1
−1
F (r) dr = 2 ·(
12F (−1) + 1
2F (1) +R1
)two intervals:1
−1
F (r) dr = 2 ·(
16F (−1) + 4
6F (0) + 16F (1) +R2
)
14
Centrale Di�erences Method
tU = 1∆t2
(t−∆tU − 2 tU +t+∆t U
)tU = 1
2∆t
(−t−∆tU +t+∆t U
)Error is of order (∆t)2.
System of equations at time t:
M tU + C tU +K tU =t R
Because the system is concidered at time t, not at time t+∆t the method is calledand explicit integration method.
Insert approximations for tU and tU :(1
∆t2M + 12∆tC
)t+∆tU =t R−
(K − 2
∆t2M)tU −
(1
∆t2M −1
2∆tC)t−∆tU
Since 0U , 0U and 0U are known, one only needs to calculate −∆tU to start thecalculation of one time step after another.
From the equations for tU and tU one obtains: −∆tU =0 U −∆t0U + ∆t2
20U
Now one can calculate ∆tU and respectivly t+∆tU and then tU and tU for everytime step.
15
Newmark Integration
Assumptions:
t+∆tU =t U +[(1− δ) tU + δt+∆tU
]∆t
t+∆tU =t U + tU∆t+[(
12 − α
)tU + αt+∆tU
]∆t2
Obtain t+∆tU from second equation, insert in �rst equation.
Insert the resulting eqations for t+∆tU and t+∆tU in the euation of motion attime t+ ∆t.
M t+∆tU + C t+∆tU +K t+∆tU =t+∆t R
Because the system is concidered at time t+∆t, not at time t the method is calledand implicit integration method.
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All �gures and tables are taken from the book �Finite-Element-
Procedures� by Klaus-Jürgen Bathe. It is the only source I used...
SoSe 11, Lars Radtke